Multi-station robot clamping jaw based on computer control

Abstract

The invention relates to the technical field of robot clamping jaws, in particular to a multi-station robot clamping jaw based on computer control, which comprises a supporting seat and two clamping jaw bodies which slide oppositely and have the same structure, the clamping jaw body comprises a pressing mechanism fixedly connected to the outer wall of the clamping jaw body and used for grabbing an object. The multiple steering mechanisms are fixedly connected to the outer wall of the clamping jaw body in an array mode and used for adapting to the shape of an object; and the multiple limiting mechanisms are fixedly connected to the outer wall of the clamping jaw body in an array mode and used for preventing the objects from moving due to inertia. The clamping device can adapt to the shape of a workpiece, when the metal workpiece is clamped, the steering ball rotates in a small range according to the shape of the metal workpiece, the pressing block is better attached to the metal workpiece, and the irregular workpiece is clamped; the locking rod is inserted into the hole in the steering ball to clamp the steering ball so that the steering ball cannot move, and therefore the situation that a workpiece is directly thrown out of the clamping jaw due to inertia is avoided, and the safety during carrying is guaranteed.

Description

Technical Field

[0001] This invention relates to the field of robot gripper technology, specifically a computer-controlled multi-station robot gripper. Background Technology

[0002] With the widespread use of multi-station robotic grippers on factory production lines, the robotic grippers can simultaneously inspect the quality of workpieces while gripping them. This avoids downtime caused by fatigue or physiological needs during manual operation, and significantly improves equipment utilization and production line throughput.

[0003] When mechanical grippers grasp metal workpieces with irregular surfaces on a conveyor belt, the reduced contact area between the grippers and the workpiece, coupled with the fact that some metal workpieces are quite heavy and the small contact area makes it difficult to grip them effectively, can cause the workpieces to slip off the grippers during transport. This significantly reduces production efficiency, and the fallen workpieces may also be damaged, resulting in economic losses. Summary of the Invention

[0004] To address the aforementioned technical problems, this invention provides a computer-controlled multi-station robot gripper that can adapt to the shape of workpieces, grip irregular workpieces, and prevent workpieces from falling off during handling.

[0005] Specific technical solution:

[0006] A computer-controlled multi-station robot gripper, the gripper comprising a support base and two identical gripper bodies that slide in opposite directions; the gripper bodies include: The pressing mechanism is fixedly connected to the outer wall of the gripper body and is used for grasping objects; The steering mechanism, consisting of multiple components arranged in an array, is fixedly connected to the outer wall of the gripper body to adapt to the shape of the object. The limiting mechanism, consisting of multiple units arranged in an array, is fixedly connected to the outer wall of the gripper body to prevent objects from shifting due to inertia.

[0007] Furthermore, the pressing mechanism includes: A thrust assembly, which is slidably connected to the outer wall of the gripper body via a connector; The connector includes a pressing block slidably connected to the inner wall of the groove of the gripper body, and a compression component fixedly connected to the inner wall of the pressing block; a fixing block is fixedly connected to the outer wall of the pressing block, a push rod is rotatably connected to the fixing block, a roller is rotatably connected to the end of the push rod away from the fixing block, and sliding grooves are slidably connected to both sides of the roller; the push rod is inclined between the fixing block and the sliding groove. A flipping assembly, which is fixedly connected to the bottom of the push rod via a rotating component; The rotating component includes multiple pulling rods fixedly connected to the bottom of the push rod. A compression spring is fixedly connected to the end of each pulling rod away from the roller. A positioning rod is fixedly connected to the end of each compression spring away from the pulling rod. A rolling rod is rotatably connected to the positioning rod. Sliding groove plates are slidably connected to both ends of the rolling rod. The sliding groove plates are provided with arc-shaped grooves. A support block is rotatably connected to the sliding groove plates. A support plate is fixedly connected to the support block. The side of the support plate away from the support block is located on the through groove of the gripper body.

[0008] Furthermore, the steering mechanism includes: A rotating assembly, which is fixedly connected to the pressing block via a rotating component; The rotating component includes a mounting groove formed on the pressing block, a fixing ring fixedly connected to the inner wall of the mounting groove, a steering ball rotatably connected to the inner wall of the fixing ring, and a plurality of slots formed on the surface of the steering ball. A contact assembly, which is fixedly connected to the steering ball by a fastener; The fastener includes a connecting rod fixedly connected to the steering ball, and a contact plate is fixedly connected to the top of the connecting rod.

[0009] Furthermore, the limiting mechanism includes: A telescopic assembly, which is fixedly connected to the pressing block via a compression member; The compression component includes a connector fixedly connected to the outer wall of the pressing block, a telescopic strip slidably connected to the inner wall of the through hole of the connector, and a conical spring fixedly connected to the bottom of the telescopic strip; A locking assembly is slidably connected to the inner wall of the through hole of the connecting body via a locking member; The locking component includes a locking rod slidably connected to the inner wall of the through hole of the connector. A contraction spring is slidably connected to the end of the locking rod away from the connector, and an inclined roller is rotatably connected to the end of the locking rod away from the contraction spring.

[0010] Furthermore, the contact assembly also includes a rubber pad fixedly connected to the top of the contact plate.

[0011] Furthermore, the bottom of the telescopic strip is set as a slope.

[0012] Furthermore, the compression assembly includes a circular housing fixed to the bottom of the inner cavity of the gripper body, and a spring disposed inside the circular housing. The bottom of the spring is fixed to the bottom of the circular housing, and a circular compression block is fixedly connected to the upper part of the spring. The upper end of the compression block is fixedly connected to the bottom of the pressing block, and the lower end of the compression block is placed inside the circular housing.

[0013] Furthermore, the outer wall of the pallet is rotatably connected to the inner wall of the gripper body.

[0014] Furthermore, a limit mechanism is arranged on each side of each steering mechanism.

[0015] The present invention has the following beneficial effects:

[0016] (1) By setting a fixed ring inside the mounting port of the pressing block, the present invention allows the steering ball to rotate inside the fixed ring, driving the connecting rod and the contact plate. When clamping a metal workpiece, the steering ball rotates slightly according to the shape of the metal workpiece, allowing the pressing block to better fit the metal workpiece. This prevents the clamping plate from having too small a force area when contacting irregular workpieces, thus causing the metal workpiece to be thrown out when the robotic arm moves. This greatly improves the stability of the gripper in clamping the workpiece.

[0017] (2) By setting a pallet, the present invention clamps the workpiece from the bottom, preventing the workpiece from shaking and being thrown out by the robotic arm due to its excessive weight. This would greatly reduce the working efficiency of the production line, and the metal workpiece may also suffer local damage, resulting in certain economic losses. The pallet clamps the bottom of the workpiece, and also ensures safety during handling.

[0018] (3) By setting up a pressing block, when the workpiece is clamped, the object will squeeze the pressing block, which will compress the internal spring of the compression block and push the push rod to the highest point of the slide. At this time, the push rod will pull the pull rod. When the gripper has not removed the workpiece from the conveyor belt, the pallet will remain in a horizontal state. Then the pull rod will pull the spring inside the positioning rod to accumulate potential energy. So when the gripper is removed from the conveyor belt, the elastic potential energy stored in the spring inside the positioning rod will pull the rolling rod along the groove of the slide plate, causing the pallet to flip over. This setting can better lift the workpiece when clamping a workpiece with a flat bottom and prevent it from falling during transportation.

[0019] (4) By setting a telescopic bar, the telescopic bar will compress the internal conical spring when it comes into contact with the object. Because the bottom of the telescopic bar is set as an inclined surface, when the telescopic bar moves downward, it will push the locking rod inside the inclined block. At the same time, the locking rod will compress the contraction spring inside the inclined block and insert the locking rod into the groove on the surface of the steering ball. This prevents the mechanical arm from being subjected to the inertial force generated by sudden stop when clamping the metal workpiece, which would force the connecting rod to rotate. By inserting the locking rod into the groove on the steering ball, the steering ball is locked and cannot move. In this way, the object will not be directly thrown out of the gripper due to inertia. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of the present invention mounted on a robotic arm;

[0021] Figure 2 This is a schematic diagram of the gripper structure of the present invention. Figure 1 ;

[0022] Figure 3 This is a schematic diagram of the gripper structure of the present invention. Figure 2 ;

[0023] Figure 4 For the present invention Figure 3 Enlarged structural diagram at point A in the middle;

[0024] Figure 5 This is a schematic diagram of the internal structure of the pressing block of the present invention;

[0025] Figure 6 For the present invention Figure 5 Enlarged structural diagram at point B;

[0026] Figure 7 This is a schematic diagram of the position structure of the pull rod of the present invention;

[0027] Figure 8 For the present invention Figure 7 Enlarged structural diagram at point C;

[0028] Figure 9 For the present invention Figure 7 Enlarged structural diagram at point D;

[0029] Figure 10 This is a schematic diagram of the position and structure of the steering mechanism of the present invention;

[0030] Figure 11 For the present invention Figure 10 Enlarged structural diagram at point E;

[0031] Figure 12 For the present invention Figure 10 Enlarged structural diagram at point F;

[0032] Figure 13 This is a schematic diagram of the overall structure of the fixing ring of the present invention;

[0033] Figure 14 For the present invention Figure 13 Enlarged structural diagram at point H;

[0034] Figure 15 This is a schematic diagram of the overall structure of the contact plate of the present invention;

[0035] Figure 16 This is a schematic diagram of the overall structure of the gripper of the present invention;

[0036] Figure 17 This is a schematic diagram of the connection structure between the gripper and the servo motor of the present invention;

[0037] In the diagram: 1. Computer control mechanism; 11. Robotic arm; 12. Gripper body; 13. Base; 2. Pressing mechanism; 21. Pushing assembly; 211. Pressing block; 212. Fixing block; 213. Push rod; 214. Roller; 215. Slide groove; 216. Compression block; 22. Tilting assembly; 221. Pulling rod; 222. Compression spring; 223. Positioning rod; 224. Support plate; 225. Rolling rod; 226. Slide groove plate; 227. 1. Support block; 3. Steering mechanism; 31. Rotating assembly; 311. Fixed ring; 312. Steering ball; 313. Groove; 32. Contact assembly; 321. Contact plate; 322. Rubber pad; 323. Connecting rod; 4. Limiting mechanism; 41. Telescopic assembly; 411. Telescopic bar; 412. Connecting body; 413. Conical spring; 42. Locking assembly; 421. Inclined roller; 422. Locking rod; 423. Retraction spring; 424. Inclined block. Detailed Implementation

[0038] To better explain and facilitate understanding of this invention, the following description is provided in conjunction with the appendix. Figures 1-17 The technical solution and effects of the present invention will be described in detail through specific implementation methods.

[0039] This embodiment discloses a computer-controlled multi-station robot gripper, the gripper including a support base and two opposing, identical gripper bodies 12; the gripper body 12 includes: The pressing mechanism 2 is fixedly connected to the outer wall of the gripper body 12 and is used for gripping objects; The steering mechanism 3, having multiple components, is fixedly connected in an array to the outer wall of the gripper body 12 to adapt to the shape of the object; The limiting mechanism 4, which has multiple components, is fixedly connected in an array to the outer wall of the gripper body 12 to prevent the object from shifting due to inertia.

[0040] like Figure 1 , Figure 16 , Figure 17 As shown, in this embodiment, the gripper can be connected to the flange at the bottom of the robotic arm 11 via a flange mounted on the support base, thereby achieving connection with the robotic arm 11; a base 13 is fixedly connected to the bottom of the robotic arm 11; the two gripper bodies 12 of the gripper are driven by computer-controlled servo motors and can open and close along the support base via a slide rail slider; as shown Figure 1As shown, the computer control mechanism 1 can be mounted on the robotic arm 11. During operation, the robotic arm 11 moves under the control of the computer control mechanism 1, locking the workpiece on the conveyor belt. After receiving instructions from the computer, the servo motor drives the gripper body 12 to close along the support base, i.e., to grasp the workpiece. After grasping, the robotic arm 11 performs a transport operation. Once it reaches the designated position, the servo motor drives the gripper body 12 to separate along the support base, thus placing the workpiece. During the gripping process, when the gripper body 12 contacts the workpiece, the steering mechanism 3 adapts to the shape of the workpiece, and the limiting mechanism 4 restricts the continuous rotation of the steering mechanism 3. The pressing mechanism 2 is used for grasping the object.

[0041] Furthermore, the pressing mechanism 2 includes: Thrust assembly 21 is slidably connected to the outer wall of gripper body 12 via a connector; The connector includes a pressing block 211 slidably connected to the inner wall of the groove of the gripper body 12, and a compression component fixedly connected to the inner wall of the pressing block 211; a fixing block 212 is fixedly connected to the outer wall of the pressing block 211, and a push rod 213 is rotatably connected to the fixing block 212. A roller 214 is rotatably connected to one end of the push rod 213 away from the fixing block 212, and sliding grooves 215 are slidably connected to both sides of the roller 214. The push rod 213 is inclinedly disposed between the fixing block 212 and the sliding grooves 215.

[0042] like Figure 2 , Figure 5 , Figure 7 As shown, the entire connector is located inside the cavity of the gripper body 12; a compression component is fixedly connected to the inner wall of the pressing block 211. When the gripper body 12 grips the workpiece, the thrust component 21 moves downward under force, and the compression component is in a compressed state. When the workpiece is released, the pressing block 211 returns to its original position through the action of the compression component, thereby restoring the gripper body 12 to its initial state. Figures 5-10 As shown, a fixing block 212 is fixedly connected to the outer wall of the pressing block 211. A push rod 213 is inclinedly disposed between the fixing block 212 and the slide groove 215, which is located on the left side of the fixing block 212. The first end of the push rod 213 is hinged to the bottom of the fixing block 212, and the second end of the push rod 213 can move along the slide groove 215 located at the bottom of the inner cavity of the gripper body 12 under the action of an external force via a roller 214. In the initial state, the second end of the push rod 213 is located on the right side of the slide groove 215. When subjected to pressure from the pressing block 211, the push rod 213 slides to the left along the slide groove 215. When the pressing block 211 moves down to its limit state, the push rod 213 is located at the left end of the slide groove 215. When the workpiece is unloaded and the pressure is removed, the compression assembly returns to its original state, thereby driving the pressing block 211 to move upward. At this time, the fixing block 212 also drives the push rod 213 to move to the right along the slide groove 215.

[0043] The flipping component 22 is fixedly connected to the bottom of the push rod 213 via a rotating component; The rotating component includes multiple pulling rods 221 fixedly connected to the bottom of the push rod 213. A compression spring 222 is fixedly connected to the end of the pulling rod 221 away from the roller 214. A positioning rod 223 is fixedly connected to the end of the compression spring 222 away from the pulling rod 221. A rolling rod 225 is rotatably connected to the positioning rod 223. A sliding groove plate 226 is slidably connected to both ends of the rolling rod 225. An arc-shaped sliding groove is provided on the sliding groove plate 226. A support block 227 is rotatably connected to the sliding groove plate 226. A support plate 224 is fixedly connected to the support block 227. The side of the support plate 224 away from the support block 227 is located on the through groove of the gripper body 12.

[0044] like Figures 2-10 As shown, in this embodiment, the bottoms of the three pull rods 221 are welded and fixed by a connecting plate, and the connecting plate is welded to the bottom of the push rod 213. The outer side of the compression spring 222 is slidably connected to the pull rod 221 and the positioning rod 223 by a limiting shell, which restricts the movement direction of the compression spring 222 along the rod direction of the pull rod 221 and the positioning rod 223. A through groove is provided at the edge of the gripper body 12 for the support plate 224 to move from the through groove. When gripping the workpiece, the pressing block 211 is forced to move downward, the push rod 213 moves to the left along the slide groove 215, driving the pull rod 221 to move to the left, and the support plate 224 of the flipping assembly 22 moves along the through groove in a direction perpendicular to the gripper body 12 until the downward movement is completed. At this time, the support plate 224 can be placed at the bottom of the workpiece, thereby limiting multiple parts of the workpiece. In the initial state, the support plate 224 is attached to the surface of the gripper body 12, and after gripping, it is flipped and placed at the bottom of the workpiece.

[0045] Furthermore, the steering mechanism 3 includes: Rotating component 31 is fixedly connected to pressing block 211 via a rotating component; The rotating component includes a mounting groove formed on the pressing block 211. A fixing ring 311 is fixedly connected to the inner wall of the mounting groove. A steering ball 312 is rotatably connected to the inner wall of the fixing ring 311. A plurality of slots 313 are formed on the surface of the steering ball 312. Contact component 32 is fixedly connected to steering ball 312 by a fastener; The fixing component includes a connecting rod 323 fixedly connected to the steering ball 312, and a contact plate 321 is fixedly connected to the top of the connecting rod 323.

[0046] like Figures 10-15As shown, the rotating component 31 is fixedly connected to the mounting groove on the outer wall of the pressing block 211 via a rotating component; the steering ball 312 of the steering mechanism 3 is rotatably connected to the inner hole of the fixed ring 311. When gripping an irregular workpiece, the steering ball 312 rotates, and the contact plate 321 and the connecting rod 323 tilt.

[0047] Furthermore, the limiting mechanism 4 includes: Telescopic component 41 is fixedly connected to pressing block 211 via compression component; The compression component includes a connector 412 fixedly connected to the outer wall of the pressing block 211. A telescopic strip 411 is slidably connected to the inner wall of the through hole of the connector 412, and a conical spring 413 is fixedly connected to the bottom of the telescopic strip 411. Locking component 42 is slidably connected to the inner wall of the through hole of connector 412 via a locking member; The locking component includes a locking rod 422 that is slidably connected to the inner wall of the through hole of the connecting body 412. A contraction spring 423 is slidably connected to one end of the locking rod 422 away from the connecting body 412, and an inclined roller 421 is rotatably connected to the other end of the locking rod 422 away from the contraction spring 423.

[0048] like Figures 10-15 As shown, when the gripper body 12 grips the workpiece, the telescopic bar 411 moves downward under force, pushing the locking rod 422 to compress into the groove 313 on the outer wall of the steering ball 312, thereby locking the steering ball 312 and preventing it from wobbling due to inertia during handling. After the workpiece is placed, the conical spring 413 moves upward to restore the telescopic bar 411 to its initial state; simultaneously, the retraction spring 423, sleeved on the locking rod 422, pulls the locking rod 422 out of the groove 313 of the steering ball 312 to restore its original state, thus both returning to their initial state. In the initial state, the telescopic bar 411 is higher than the contact plate 321.

[0049] Furthermore, the contact assembly 32 also includes a rubber pad 322 fixedly connected to the top of the contact plate 321.

[0050] like Figure 13 As shown, a grooved rubber pad 322 is glued to the surface of the contact plate 321. The rubber pad 322 makes the workpiece gripping stable.

[0051] Furthermore, the bottom of the telescopic strip 411 is set as a slope.

[0052] When the telescopic bar 411 is inclined, it facilitates the movement of the locking rod 422.

[0053] Furthermore, the compression assembly includes a circular housing fixed to the bottom of the inner cavity of the gripper body 12, and a spring disposed inside the circular housing. The bottom of the spring is fixed to the bottom of the circular housing, and a circular compression block 216 is fixedly connected to the upper part of the spring. The upper end of the compression block 216 is fixedly connected to the bottom of the pressing block 211, and the lower end of the compression block 216 is placed inside the circular housing.

[0054] like Figure 2 As shown, when the workpiece is gripped, the pressing block 211 is pressed into the inner cavity of the gripper body 12, and the compression block 216 is pressed into the circular shell. When the workpiece is put down, the spring pushes the compression block 216 upward in order to restore its deformation, thereby driving the pressing block 211 to return to its initial state.

[0055] Furthermore, the locking assembly 42 includes an inclined block 424 fixedly connected to the inner wall of the slot 313, and the outer wall of the support plate 224 is rotatably connected to the inner wall of the gripper body 12.

[0056] Furthermore, a limiting mechanism 4 is arranged on each side of each steering mechanism 3.

[0057] like Figure 10 As shown, when the limiting mechanism 4 is arranged on both sides of the steering mechanism 3, the steering mechanism 3 can be better limited.

[0058] In one usage process of this embodiment: When in use, the robotic arm 11 is powered on, the computer controls the robotic arm 11 to rotate first, then lock the workpiece on the conveyor belt, and then the gripper body 12 clamps the workpiece. Then the robotic arm 11 rotates to place the workpiece in the designated position. Specifically, when gripping irregular workpieces, the workpiece contacts the telescopic bar 411 and presses the telescopic bar 411 inward. As the telescopic bar 411 moves inward, the workpiece contacts the contact plate 321. When the contact plate 321 moves inward, it compresses the spring on the connecting rod 323. When the contact plate 321 contacts the workpiece, the steering ball 312 immediately adjusts, rotating slightly to adapt to the shape of the workpiece. That is, the steering ball 312 rotates inside the fixed ring 311, thereby driving the connecting rod 323 and the contact plate 321 to rotate. When gripping metal workpieces, the steering ball 312 rotates slightly according to the shape of the metal workpiece, allowing the pressing block 211 and the contact plate 321 to better fit the metal workpiece. This prevents the clamping plate from having too small a force-bearing area when contacting irregular workpieces, thus avoiding the metal workpiece being thrown out when the robotic arm 11 moves. This greatly improves the stability of the gripper when gripping the workpiece. As the telescopic bar 411 moves inward, it pushes the locking rod 422. When the locking rod 422 is under pressure, it compresses the contraction spring 423 fixed inside the inclined block 424, causing the locking rod 422 to enter the groove 313 on the outer wall of the steering ball 312, thus locking the steering ball 312 and preventing it from shaking due to inertia during transportation. By setting the telescopic bar 411, when the telescopic bar 411 contacts the object, it will compress the internal conical spring 413. Because the bottom of the telescopic bar 411 is set as an inclined surface, when the telescopic bar 411 moves downward, the inclined surface at the bottom of the telescopic bar 411 will contact the inclined roller 421 on the locking rod 422, pushing the locking rod 422 inside the inclined block 424 to move inward. At the same time, the locking rod 422 will compress the contraction spring 423 inside the inclined block 424 and insert the locking rod 422 into the slot 313 on the surface of the steering ball 312. This prevents the mechanical arm 11 from being subjected to the inertial force generated by sudden stop when clamping the metal workpiece, forcing the connecting rod 323 to rotate. By inserting the locking rod 422 into the slot 313 on the steering ball 312, the steering ball 312 is locked and cannot move. In this way, the object will not be directly thrown out of the gripper due to inertia.

[0059] When contacting an irregular workpiece, the pressing block 211 moves inward along with the contact plate 321. As the pressing block 211 moves inward, the fixing block 212 also moves. When the fixing block 212 exerts pressure on the push rod 213, the push rod 213 itself is in an inclined state, causing the fixing block 212 to push the push rod 213 upward along the slide groove 215, simultaneously pulling the pulling rod 221 upward. Because the pallet 224 is in contact with the conveyor belt and is in a horizontal state when contacting the workpiece, when the pulling rod 221 is pulled upward by the push rod 213, it will pull the compression spring 222 inside the pressing block 211. The compression spring 222 will store potential energy in the gripper body 12. When clamping is complete, as the gripper body 12 leaves the conveyor belt, the pallet 224 no longer adheres to the conveyor belt. The elastic potential energy stored in the compression spring 222 pulls the positioning rod 223 upward. The positioning rod 223 then pulls the rolling rod 225 to slide along the groove of the slide plate 226. At this time, the pallet 224, which was originally attached to the surface of the gripper body 12, will flip at the bottom of the gripper body 12. The flipped pallet 224 will directly support the bottom of the workpiece. When the robotic arm 11 lowers the workpiece, the potential energy stored in the spring inside the roller 214 will cause the pressing block 211 to return to its initial position, push the rod 213 downward, and cause the pallet 224 to flip again, returning to a horizontal state. The contact plate 321 will be reset by the spring inside the connecting rod 323, and the telescopic bar 411 will also be reset by the conical spring 413. By setting up the pallet 224, the workpiece is clamped from the bottom, preventing the workpiece from wobbling during movement due to its own excessive weight and being thrown out. This would greatly reduce the working efficiency of the production line, and the metal workpiece may also suffer local damage, resulting in certain economic losses. The pallet 224 clamps the bottom of the workpiece, while also ensuring safety during handling. By setting up the pressing block 211, when the workpiece is clamped, the workpiece will squeeze the pressing block 211, causing the compression block 216 to compress the internal spring and push the push rod 213 to the highest point of the slide 215. At this time, the push rod 213 will pull the pull rod 221. Because the gripper body 12 has not removed the workpiece from the conveyor belt, the pull rod 221 will stretch the compression spring 222 inside the positioning rod 223, so that the pallet 224 will remain in a horizontal state. Then the pull rod 221 will pull the spring inside the positioning rod 223 to accumulate potential energy. Thus, when the gripper body 12 is removed from the conveyor belt, the elastic potential energy stored in the spring inside the positioning rod 223 will pull the rolling rod 225 along the arc-shaped slide 226, causing the pallet 224 to flip over. This setting can better lift the workpiece when clamping a workpiece with a flat bottom, preventing it from falling during transportation.

Claims

1. A computer-controlled multi-station robot gripper, characterized in that: The gripper includes a support base and two identical gripper bodies that slide in opposite directions; the gripper body includes: The pressing mechanism is fixedly connected to the outer wall of the gripper body and is used for grasping objects; The steering mechanism, consisting of multiple components arranged in an array, is fixedly connected to the outer wall of the gripper body to adapt to the shape of the object. The limiting mechanism, consisting of multiple units arranged in an array, is fixedly connected to the outer wall of the gripper body to prevent objects from shifting due to inertia.

2. The multi-station robot gripper based on computer control according to claim 1, characterized in that: The pressing mechanism includes: A thrust assembly, which is slidably connected to the outer wall of the gripper body via a connector; The connector includes a pressing block slidably connected to the inner wall of the groove of the gripper body, and a compression component fixedly connected to the inner wall of the pressing block; a fixing block is fixedly connected to the outer wall of the pressing block, and a push rod is rotatably connected to the fixing block; a roller is rotatably connected to the end of the push rod away from the fixing block; a sliding groove is slidably connected to both sides of the roller; and the push rod is inclined between the fixing block and the sliding groove. A flipping assembly, which is fixedly connected to the bottom of the push rod via a rotating component; The rotating component includes multiple pulling rods fixedly connected to the bottom of the push rod. A compression spring is fixedly connected to the end of each pulling rod away from the roller. A positioning rod is fixedly connected to the end of each compression spring away from the pulling rod. A rolling rod is rotatably connected to the positioning rod. Sliding groove plates are slidably connected to both ends of the rolling rod. The sliding groove plates are provided with arc-shaped grooves. A support block is rotatably connected to the sliding groove plates. A support plate is fixedly connected to the support block. The side of the support plate away from the support block is located on the through groove of the gripper body.

3. The multi-station robot gripper based on computer control according to claim 2, characterized in that: The steering mechanism includes: A rotating assembly, which is fixedly connected to the pressing block via a rotating component; The rotating component includes a mounting groove formed on the pressing block, a fixing ring fixedly connected to the inner wall of the mounting groove, a steering ball rotatably connected to the inner wall of the fixing ring, and a plurality of slots formed on the surface of the steering ball. A contact assembly, which is fixedly connected to the steering ball by a fastener; The fastener includes a connecting rod fixedly connected to the steering ball, and a contact plate is fixedly connected to the top of the connecting rod.

4. The multi-station robot gripper based on computer control according to claim 3, characterized in that: The limiting mechanism includes: A telescopic assembly, which is fixedly connected to the pressing block via a compression member; The compression component includes a connector fixedly connected to the outer wall of the pressing block, a telescopic strip slidably connected to the inner wall of the through hole of the connector, and a conical spring fixedly connected to the bottom of the telescopic strip; A locking assembly is slidably connected to the inner wall of the through hole of the connecting body via a locking member; The locking component includes a locking rod slidably connected to the inner wall of the through hole of the connector. A contraction spring is slidably connected to the end of the locking rod away from the connector, and an inclined roller is rotatably connected to the end of the locking rod away from the contraction spring.

5. A computer-controlled multi-station robot gripper according to claim 3, characterized in that: The contact assembly also includes a rubber pad fixedly connected to the top of the contact plate.

6. A computer-controlled multi-station robot gripper according to claim 4, characterized in that: The bottom of the telescopic strip is set as a slope.

7. A computer-controlled multi-station robot gripper according to claim 2, characterized in that: The compression assembly includes a circular housing fixed to the bottom of the inner cavity of the gripper body, and a spring disposed inside the circular housing. The bottom of the spring is fixed to the bottom of the circular housing, and a circular compression block is fixedly connected to the upper part of the spring. The upper end of the compression block is fixedly connected to the bottom of the pressing block, and the lower end of the compression block is placed inside the circular housing.

8. A computer-controlled multi-station robot gripper according to claim 4, characterized in that: The locking assembly includes an inclined block fixedly connected to the inner wall of the slot, and the outer wall of the support plate is rotatably connected to the inner wall of the gripper body.

9. A computer-controlled multi-station robot gripper according to claim 1, characterized in that: Each steering mechanism has a limit mechanism on both sides.

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